Cross-Reference to Related Applications
This application claims that submit on November 7th, 2011 and entitled " for processing analysis system and the side of sample Method " the priority of U.S. Provisional Patent Application 61/556,667.The application also require on March 28th, 2012 submit to and The priority of the U.S. Provisional Patent Application 61/616,994 of entitled " for processing the analysis system and method for sample ".This Shen Please further requirement on August 6th, 2012 submit to and the U.S. of entitled " for processing the analysis system and method for sample " The priority of state's temporary patent application 61/680,066.It is incorporated by reference all these Shen for all purposes and at this Full content please.
Background technology
Traditional medical experiment chamber system comprises many for processing the link of clinical samples, and some are automatic, some Need manual operation.Owing to those links become automatization, nowadays laboratory system becomes more efficient.But, in order to reduce sample The time that this analysis is spent, reduce the demand of the manual operation for system, and reduce the sky required for plant equipment Between, still there is the assembly of some medical laboratories to be automated.
Generally, the process of laboratory can be organized into four-stage: association, before analysis, after analyzing and analyzing.These are four years old The individual stage typically occurs in any laboratory treatment.But, the laboratory of some routines perhaps has use and runs through experiment The process of the independent unit of room, some unit are connected to move sample from unit by other process simultaneously with induction system Move unit.Both styles have the process needs that some are common and some are different.It addition, the laboratory of some routines can To process same type of sample tube (such as, in those of workbox) always, and other have, and they are necessary fits The large-scale tubing type answered.Additionally, there is a preference in many laboratorys perhaps specific manufacturer to analyzer, and other meeting Use all of analyzer from a manufacturer.
Therefore, having the needs for being used more effectively for processing the system and method for clinical samples, this is used more effectively for Process the system and method for clinical samples and be adapted to use independent unit and the unit that is connected with induction system Process, various sample tube type and the analyzer from any manufacturer.
The subsystems such as automatic laboratory system can include.The subsystem such as traditional is typically via laboratory automation system The main conveying system of system handles sample tube.Such as, liquid can be transferred to secondary pipes from primary tube etc. subsystem, primary tube With secondary pipes decile process during in all on main conveying system.In this case, once subsample pipe is accurate Standby, laboratory technicians is necessary for secondary pipes is transferred to desired analysis module.Because this system is not full automation , so this process is slow and inefficient.
In another example, the subsystem such as traditional can carry out decile process to the sample tube of mutual alinement. Such as, in induction system, more than one secondary pipes can be directly after primary tube, and therefore secondary pipes is kept off by primary tube Live.The subsystems such as this system prevents that secondary pipes from leaving, until for needing all secondary of sample being fitted with in primary tube Pipe completes decile and processes.Secondary pipes cannot move to next one analysis module, until all deciles for that sample are complete Become, postpone so that whole sample analysis processes.
Embodiments of the invention process these and other problems individually and jointly.
Summary of the invention
The embodiment of this technology relates to the system and method being effectively located in reason clinical samples.
One embodiment of the present of invention is for a kind of system, including halver module and pipettor, aliquot module Including the track being made up of multiple loops, loop includes the first loop being configured to keep subsample container and is configured to protect Holding the second servo loop of primary sample container, pipettor is configured to sucking-off first from the primary sample container being positioned at sucking-off position The sample of aliquot volume, and be discharged to be positioned in the subsample container of drain position by the sample of the first aliquot volume.Deng Subsample container left halver module before primary sample container to divide device module to be configured so that.
An alternative embodiment of the invention is for a kind of method, is included in the of the track being positioned at neighbouring halver module In the primary sample container of the sucking-off position of primary Ioops, the sample of sucking-off aliquot volume, is discharged to be positioned at by the sample of aliquot volume In the subsample container of the drain position of the second servo loop of the track of neighbouring halver module, and make subsample container Halver module was left before primary sample container.
An alternative embodiment of the invention is for a kind of system, and including halver module, halver module includes moving liquid Device, pipettor is configured to sucking-off first from the primary sample container of be positioned at sucking-off position first independently moveable carrier The sample of aliquot volume, and the sample of the first aliquot volume is discharged to be positioned at the second independently moveable load of drain position In the subsample container of body.Halver module is configured so that subsample container left before primary sample container Divide device module.
An alternative embodiment of the invention is for a kind of method, including from the of the track being positioned at neighbouring halver module The sample of sucking-off aliquot volume in the primary sample container of the independently moveable carrier of the sucking-off position of primary Ioops, the split such as general Long-pending sample is discharged to be positioned at the independently moveable carrier of the drain position of the second servo loop of the track of neighbouring halver module Subsample container in, and make subsample container leave halver module before primary sample container.
An alternative embodiment of the invention is for a kind of system, including halver module and pipettor, halver module Including the first track, the second track, transporting rail, against transporting rail and the first track or the rotating valve of the second track Device, pipettor is configured to split such as sucking-off the first grade from the primary sample container of the sucking-off position being located closely adjacent to the first track Long-pending sample, and the sample of the first aliquot volume is discharged to be located closely adjacent to the subsample appearance of the drain position of the second track In device.
An alternative embodiment of the invention is for a kind of method, including from the of the track being positioned at neighbouring halver module In the primary sample container of the sucking-off position of one track, the sample of sucking-off aliquot volume, is discharged to be positioned at by the sample of aliquot volume In the subsample container of the drain position of the second track of the track of neighbouring halver module, rotate rotating valve dress Put, and subsample container is moved to transporting rail from the second track.
The embodiment of the these and other of this technology will describe in greater detail below.
Accompanying drawing explanation
By reference to the following drawings, it is possible to achieve the further understanding to the nature and advantages of different embodiments.
Fig. 1 depicts the block diagram of the parts that the stage with laboratory automation system is associated.
Fig. 2 depicts the block diagram analyzing the parts that the last stage is associated with laboratory automation system.
Fig. 3 depicts the block diagram of the parts in halver module.
Fig. 4 depicts flow chart according to an embodiment of the invention.
Fig. 5 (a) shows the top view of the first halver module according to an embodiment of the invention.First halver module Including multiple circular passages.
Fig. 5 (b) shows the top view of the second halver module according to an embodiment of the invention.Second halver module Rotatable gateway device including disk like thing form.
Fig. 5 (c) shows the top view of quadruple coincidence set module according to an embodiment of the invention.Quadruple coincidence set module Rotatable gateway device including linear bar thing form.
Fig. 5 (d) shows the top view of trisector module according to an embodiment of the invention.Trisector module Including linear passage and can independent mobile vehicle.
Fig. 6 depicts the solid of the variation of the transfer path layout of the laboratory transportation system utilizing disk transportation system One example of partial view.
Fig. 7 depicts the example of the axonometric chart of Lab Products transport element.
Fig. 8 depicts the example of the lateral cross-section of Lab Products transport element.
Fig. 9 depicts the example of the bottom perspective view of Lab Products transport element.
Figure 10 depicts the example of the Lab Products transport element not having outside protection.
Figure 11 depicts an example of the otch of transfer path.
Figure 12 depicts the block diagram of exemplary computer equipment.
Detailed description of the invention
The embodiment of this technology relates to process laboratory system and the method for clinical samples.As will be more fully below These embodiments described have superiority, because in the middle of other advantages, they supply more significant speed, accuracy, effect Rate, and prevent pollutant.As discussed above, many traditional laboratory systems are likely to be of and make in whole laboratory With the process of separate unit, this needs sample manually to be transported between each separate unit, and other may be by some simultaneously Unit is connected with induction system, in order to from unit, sample is moved to unit.It addition, as discussed above, sample tube size It is probably the constraints in traditional laboratory system with the equipment from different manufacturers.This conventional art is slow And it is coarse.The embodiment of this technology provides a kind of modular laboratory system, this modular laboratory system energy Enough by using more general assembly and by the function needed for most of laboratory systems is grouped into five basic training Energy unit: (1) manager, (2) centrifuge, (3) halver, (4) output/grader and (5) memory element, adapts to difference Lab cell and transportation system, sample tube size and manufacturer.
In an embodiment of the present invention, laboratory system uses central controller or scheduler to operate controlled process. By being maintained at by sample under the control of intelligent scheduler, system provides the efficient use of each instrument.System is able to maintain that The consistent minimum turnaround time, and the control that processes by maintenance and only when instrument is ready to and can use ability by sample It is delivered to instrument to maximize the treating capacity of whole system.
In an embodiment of the present invention, " sample container " can be to possess any suitable shape or form.Real at some Executing in example, sample container can have the length-width ratio of greater than about 3:1 to be the form of sample tube.This sample container can be with appointing What suitably material makes, including plastics, glass etc..They may further include the sample with one end closing one end open Tube body, and it is configured to cover and attach to the lid of the opening of sample tube body.
I. whole system
A. the stage of laboratory system
Fig. 1 depicts an embodiment of the medical experiment chamber system for processing clinical samples.Laboratory system includes The assembly being associated with association phase 102, analysis last stage 104, analysis phase 106 and analysis after-stage 108.
1. association phase
Association phase 102 is the first stage of laboratory treatment.At this stage, patient information, for patient's sample Test and unique laboratory identification code (such as, bar code) required by Ben are associated with each other.Although association phase is permissible Being automatization, in certain embodiments, association phase is artificial treatment.For example, in certain embodiments, laboratory skill Art personnel (referred to below as " user ") can distribute priority to sample.Sample is loaded onto on shelf or is specifically entering Mouth point is loaded directly in system.Although in order to provide the most consistent turnaround time, sample is divided into several basic The group of priority (such as, urgent or high priority, high medium priority, low priority etc.) is probably comparatively ideal, but is not Necessary.The sample processing patient can be based on any priority defined by the user.But, without assigned priority, Priority can based on such as minimize the turnaround time, maximize treating capacity, the factor such as feasibility of process is allocated.
2. analyze the last stage
The analysis last stage 104 includes that the sample preparing patient is for analyzing.Before analysis during the stage 104, patient and examination The information of testing is cracked, and is planned for the process analyzed, and quality examination is performed, and sample can be broken down into its constituent (such as, centrifugal treating), sample can be separated for parallel analyzing and processing, and/or sample can be delivered to one with On analyzer and/or shelf.In analyzing last stage 104 management misconduct chamber system, sample is to different instruments and different analyses The flowing of device.Management of process allows the operation of system high efficiency and uses minimum instrument.Additionally, analyze the last stage 104 to guarantee reality In testing chamber system, the obstruction of the different clinical samples pointed out will not occur along with process, if or block appearance really, point The analysis last stage 104 guarantees that group sets and can be quickly cleared and will not the other parts of significant impact system.
The embodiment of system can identify patient as soon as possible and judge that the optimal planning chart of each sample is to provide one Pass through, minimum turnaround time and the analyzing and processing of maximum throughput.Step and the layout of those steps in process are set Count into the obstruction avoiding clinical samples.The module of laboratory system can be to guarantee that the maximum throughput in upstream process processes sample This treating capacity speed operates.But, in certain embodiments, in halver unit, treating capacity can be by upstream sample Sample introduction and by managing in the little queue of each halver position.
Fig. 2 is and the more detailed description analyzing the assembly that the last stage 104 is associated.Relevant to analyzing the last stage 104 The assembly of connection can include that such as input module 202, areal area 204, centrifuge 206, cover remover 208, serum index measure dress Put 210, halver 212 and the module of output/grader 214.
(a) input module
Input module 202 shown in Fig. 2 can accommodate various pipe, shelf, priority etc., and is able to receive that sample. The shelf of multiple pipes and/or single pipe can be loaded on one of multiple passage 216, can be manually-operated drawer And/or automaton.In fig. 2,5 passages 216 are depicted.But, laboratory system can have any number of passage 216.Passage 216 is assigned priority according to the priority distributed by user.In certain embodiments, limit priority is logical Road (shorter turnaround time or " STAT ") is likely to be of the fixed position for receiving one group of single pipe from user.One Denier pipe is loaded in STAT passage, and they become next pipe to be processed.Other passage can by any way by Distribute different priority.For example, when drawer is operated manually, at least two drawer distribution one priority and Distribute another priority to other drawer of at least two and can allow system continuous print operation on a drawer, simultaneously with Another drawer of sample priority is available for a user.
In certain embodiments, while input module 202 is processing the drawer of sample, user can be informed that This drawer should not be opened.Such as, the indicator of the such as lamp on drawer or the lock on drawer can be used for alert Accuse user.This can help integrity that maintenance processes and make volume of production maximize.Content when first drawer When process is done, drawer can be identified as can use by user, and system can automatically start to process another and take out Drawer.It addition, by using input module fixture 228, sample can be transferred the drawer 216 to and from input module 202.
(b) distribution district module
Distribution district's fixture 218 (being discussed in more detail below) can be from the passage 216 in the input module 202 of Fig. 2 Select the pipe of limit priority and transport it into the fixing base (matrix) being referred to as distributing district 204.Distribution district 204 energy Enough parts specimen distributed to desired by laboratory automation system.This is being transferred to by input module fixture 228 In the period of module, the liquid level of the constituent of sample is measured and the picture be taken of sample tube.These photos can be by For analyze with judge the manufacturer of pipe, diameter, highly, lid color etc..The composition of sample can be calculated from these information Volume, and total pipe weight can be made estimation.Help equilibrium centrifugation machine module is can be used after this weight Centrifugal barrel in 206, this will be described in greater detail below.
Filled by the pipe of low priority, for from low priority input channel quilt to not make protection distribution district 204 become The limit of the number being loaded into the pipe in this region can be set.Additionally, distribution district 204 can have reserved area, in order to Guarantee that STAT sample can use distribution district 204 in input module 202 continuously from STAT drawer.
Distribution district 204 can be that permission system accesses the Test Information being associated with the sample tube in association phase 102 also And plan is for the conservation zone of the analyzing and processing of sample.This enables the system to relative to current other sample tube in system The process of scheduling sample tube.Scheduling is capable of effective process of sample based on priority, and does not make appointing in total system What step overload, it is allowed to turnaround time and the optimization for the treatment of capacity.Additionally, the scheduling of sample can be along with being in whole process The liveness of system or availability change and are updated, it is provided that the most actively controlling of sample.
Once dispatch and be planned by distribution district module 204, robot clamp 218 the most then in distribution district 204 based on The priority of pipe carrys out the sample tube of the pipe selected as next module to be transferred to next.Selected sample tube based on The analysis carried out by distribution district module 204 is transported to induction system 220 from distribution district 204, to centrifuge module 206, or To the output drawer with error-zone 222.
If sample tube is being moved to centrifuge module 206, then estimating based on weight earlier, pipe can be placed In suitable centrifuge adapter, in order to guarantee the correct balance of centrifuge rotor.Centrifuge adapter is by shuttle Pipe be downloaded to the parts of centrifuge from distribution district 204, thus robot clamp the centrifuge adapter with pipe is transferred to from The bucket of scheming.
If distribution district module 204 determines that sample tube need not centrifugal treating, then distribution district robot clamp 218 is by sample Be placed in the carrier in induction system 220, and bar coded sticker on the direction of scheduler correctly with carrier alignment, with Downstream is not the most made to process overload.Induction system 220 described below and the more details of carrier.Carrier may refer to any properly Device, it can be present in induction system and can deliver or transport more than one sample container or pipe.Show The carrier of plasticity can comprise the recess that can keep container or pipe.If (such as, capacity is too low, bar for sample existing problems Shape code can not read, be downloaded etc. without Test Information), sample tube is moved to error-zone 222 and notifies this problem to making User.
(c) centrifuge module
If distribution district module 204 judges that sample needs centrifugal treating before the analysis of sample, sample tube can be from Fig. 2 Distribution district 204 be moved to centrifuge module 206.When sample tube to be transported to centrifuge module 206 from distribution district 204 Time, sample tube is loaded in the centrifuge adapter distributing district 204 by distributing district's robot clamp 218.Colligator may be located at And keep the multiple pipe size for centrifugal treating.Colligator is positioned at and is filled sample tube just in distribution district 204 once colligator And between centrifuge module 206 on the shuttle 224 of movement.Colligator can be to maintain the device of sample container, and can be by It is used in centrifuge.This colligator is generally and constitutes by being not limited to polymeric material, and is constructed having permission one Individual above sample can be placed at the single sheet of the shape that container therein can be detained.In some cases, colligator It is inserted in the device being arranged on centrifuge rotor or in rotor.Keep labware (such as, the sample container of sample Or pipe) it is inserted in colligator.
When the sample tube in colligator arrives centrifuge module 206 from distribution district 204 via shuttle 224, colligator quilt It is loaded in available centrifuge bucket.The structure of colligator allows the simplification being delivered to centrifuge bucket and removing from centrifuge bucket. Once being loaded onto in centrifuge bucket, sample can be by centrifugal treating.Centrifuge module 206 can include more than one cold preservation To maintain the centrifuge of sample temperature.In fig. 2, two centrifuge 206-1 and 206-2 are depicted.Centrifuge uses swing Centrifuge bucket rotor, it is possible to producing the horizontal beds of precipitation, analyzer and pipettor can the therefrom the maximum amount of liquid of sucking-off.Once from The heart has processed, and colligator can remove and be placed on unloading district from centrifugal treating bucket.Sample tube is then from unloading district Colligator in remove, and be placed on the carrier of transportation system 220 to be transmitted to next module.
Pipe is loaded in the colligator of distribution module 204, the pipe in colligator is sent to centrifuge via shuttle 224 Module 206, by colligator device to centrifuge bucket, is centrifuged sample processing, unloads colligator from centrifuge bucket, and And the time unloading pipe from colligator is so that processing is continuous print, this allows when sample reaches centrifuge from distribution district 204 Continuous print sample centrifugal treating during module 206.When centrifuge completes a rotating circulating, the last pipe in distribution district 204 by Distribution district fixture 218 is loaded in colligator, and colligator is moved to an off the centrifuge in scheming module 206 by shuttle 224. Meanwhile, the automatically-controlled door on centrifuge is opened, and provides the path of bucket when rotor forwards the position on doorway to.Centrifuge module The colligator in bucket is removed by the centrifuge Modular jig 226 in 206, and that colligator is moved to pipe will be by It is unloaded to the region at place on the carrier in transportation system 220.It follows that centrifuge Modular jig 226 selects to be loaded recently From the colligator of the pipe in distribution district 204, and it is deposited in sky bucket.While rotor forwards next bucket to, first The open position that front empty colligator is moved on shuttle 224 is for loading when shuttle 224 returns to distribute district 204 Pipe from distribution district 204.
After last colligator is loaded onto in centrifuge, door is closed and rotating circulating starts.Colligator shuttle 224 move back to distribute district 204, and centrifuge Modular jig 226 starts to be unloaded to by pipe on the colligator that removes from bucket In carrier in transportation system 220.Pipe is when colligator is moved to carrier, and the height of the beds of precipitation is measured, and each pipe On bar code and carrier alignment.If presenting insufficient serum or blood plasma, pipe is positioned at be sent in output module 214 Error-zone.
If dispatching algorithm predictive analyzer overloads sample from centrifuge module 206, centrifuge Modular jig 226 can unload Sample originally and is assigned to induction system from colligator by load sample.In certain embodiments, the whole circulation time energy of centrifuge Enough more than or equal to such as 360 seconds.In order to ensure optimal TAT and treating capacity, centrifuge is maintained at such as 360 seconds centrifugal places In the stage in reason cycle 180 seconds.In certain embodiments, downstream processes and does not prevent the sample unloading from centrifuge adapter. If all of remaining sample has been scheduled disabled process and has depended on this disabled process, sample tube in colligator The buffer in centrifuge instrument can be moved to or be moved to another relief area in other place in system.
Centrifuge module 206 can include the automatic centrifuge controlled by Centrifugal Machine Control device.Automatic centrifuge can be by Being mounted with multiple centrifuge adapter or socket, each colligator receives multiple sample tube.Centrifuge includes being couple to the heart Motor on axle, rotor part, controller, lid and selectively, lid driver.Centrifugal Machine Control device is selected The position selected is guided or stops mandrel, for managing, automatically the placing and remove of colligator or bucket.Lid has close stance Put and open position, and lid opens and closes the instruction being responsive to from Centrifugal Machine Control device.
In certain embodiments, before the bucket being loaded is placed in centrifuge, bucket can be put down in balance system Weighing apparatus.Comprise as the balance system that can be a part included in centrifuge module 206 and have for receiving and keeping many The ratio in the place of individual bucket, and balance controller, this balance controller for optionally leaving the sky of bucket in by sample tube In cave, the weight change simultaneously making increase is interrelated with the position deposited every time, for making the pair of being equal in weight of bucket.Flat Weighing apparatus controller can be implemented as the equilibrium code in central controller.Equilibrium code maintains the data base of sample container weight. When the weight of container and the weight of sample are combined, equilibrium code can determine and is placed on optimal colligator therein Hole, thus the rotor of balance is maintained in allowance.Sample weight is density Estimation and the sample calculated from level gauging This volume and the product of container geometry obtained during the initial extraction from input.In certain embodiments, balance The a collection of dummy load that system is additionally may included in bucket, for limiting the weight change between bucket.Dummy load can be added Weight, is limited to no more than for the weight between the component of every a pair barrel being changed, such as, and 10 grams.
In other embodiments, ratio is not required to be used.Such as, in certain embodiments, sample container and sample Weight can be estimated, and colligator can automatically be loaded, in order to guarantees the rotor of balance.In some cases, sample The picture of this pipe can be taken, and the liquid level of the sample in sample tube can be determined.Use the letter about sample container Breath (such as, sample container weight) and the liquid level being determined, the weight of the sample tube wherein with sample can be estimated.At this Plant in embodiment, advantageously, it is not necessary to ratio.Further, it is also possible to need not dummy load.
Centrifugal Machine Control device can operate to carry out multiple function, such as receive and store include rotor axle speed and The centrifuge of persistent period rotates scattergramï¼It is directed to the sample station of rotor access in position, revolves according to period profile figure Walk around son, accessing position, utilizing predetermined sample station, stopping rotor, etc..
(d) cover remover module
The cover remover module 208 of Fig. 2 can sample tube in the carrier in induction system 220 analyzed before will lid from They are removed.Decapping system can clamp sample tube and be removed from sample tube by lid.Cover remover module 208 followed by distributed mode Block 204 and centrifuge module 206.For need not cover the sample tube removed (such as, for example, wherein sample can only need Classify), the carrier in induction system 220 will walk around cover remover module 208.For the sample tube needing lid to remove, cover remover Lid can be removed from sample tube and lid leaves in the biohazardous below the plate face of cover remover module 208 by module 208 Waste-disposal container in.The waste-disposal container of biohazardous is removable and removable, in order to protection user is exempted from Encroached on by the waste material of biohazardous.
(e) serum index module
The serum index module 210 of Fig. 2 can measure the serum index of sample.Usually, this function is in the analysis phase Carried out in during 106.But, in some cases, some laboratory may tend to by sample presentation to analyzer it Any quality problems of pre-treatment.Therefore, serum index module 210 is for providing this quality control to select by underproof sample ?.For need not the sample that serum index is measured, sample can walk around serum index module 210.
Serum index module 210 can be the next module after cover remover module 208, because serum index measures allusion quotation Need access-sample type.Being similar to cover remover module 208, serum index module 210 can be below the plate face of this module There is the waste-disposal container of biohazardous.Container can be removable and removable, in order to protects a user from raw The waste material infringement of thing hazardness.
(f) halver module
The halver module 212 of Fig. 2 be illustrate in detail in figure 3 very much.Halver module 212 needs according to many education and correction for juvenile offenders It is used for analyzing the sample by primary sample tube 304 and is divided into multiple subsample pipe 306.This module can comprise For the sample in primary sample tube 304 being divided into the more than one shifting liquid of the sample decile for subsample pipe 306 Device 302.
As it can be seen, primary and secondary sample tube 304,306 can be on respective rotatable wheel, in order to they can It is removed and/or is introduced into induction system 220.Pipettor 302 can comprise each of primary and secondary sample tube 304,306 From adjacent rotatable wheel between.As it can be seen, the parts of halver module be configured to primary sample tube 304 from Before opening halver module, the subsample pipe 306 comprising sample decile can leave halver mould via induction system 220 Block.
The bar coded sticker of halver module 212 promotion given patient further and Test Information marks subsample Pipe 306.Bar coded sticker is attached to the plate of halver module 212 in the device being referred to as secondary pipes and preparing unit (STPU) Subsample pipe 306 below face.STPU can produce, for more than one pipettor, the pipe being marked.New subsample pipe The halver module 212 that can be delivered in stand is also loaded onto etc. in the drawer below sub-module 212.Label is delivered Printed below the plate face of sub-module 212 waiting on cylinder and before being attached to pipe.
In order to make the pollutant of clinical samples minimize, pipettor 302 uses disposable tip 308.These suction nozzles arrive The stand being loaded onto in the drawer on plate face.Pipettor 302 loads disposable tip from these stands, by sample from primary tube 304 sucking-offs 310 and by sample distribution 314 in more than one secondary pipes 306 and/or microwell plate 312.A reality Executing in example, suction nozzle can be limited to specific sample size (such as, 1 milliliter).In this case, it is allocated more than specified quantitative Volume may need repeatedly sucking-off.Once completing imbibition for sample, this suction nozzle just can be thrown aside in waste material container 320.
Managing pipe in during sucking-off 310 and distribution 314, primary tube 304 and secondary pipes 306 are from induction system 220 Path of travel in be removed and be queued on supplementary passage.Because halver module 212 can be than another module more Operate under low speed, so the impact of the decile making the residue on system of queuing up minimizes.Although queuing processes and can take Certainly change in induction system 220, but in the present embodiment, the carrier with primary tube 304 is transferred to queuing wheel.With Empty carrier in secondary pipes 306 is transferred to the separate queuing wheel adjacent with primary tube 304.The secondary pipes being marked 306 are loaded 316 to empty carrier by elevator 318 below plate face, and elevator 318 rotates, in order to empty carrier Alignment.STPU correct towards on pipe is transferred to elevator 318, in order to guarantee bar code correctly with carrier alignment.? In the case of halver module 212 has more than one pipettor, elevator 318 rightabout rotates, in order to placed by pipe In the carrier (rotatable wheel).
(g) output/classifier modules
Pipe is transferred to be positioned on the sub or slave shelf of frame of drawer or compartment transmission pipe by output/sort module 214.Output/ Sort module 214 can play the effect of the parts of the output for the operation analysis last stage 104 equally, and can rise equally Effect to the grader that pipe is classified by the type of the analysis to be stood according to sample.Output/sort module 214 includes dress Carry and/or unload the region of the shelf of pipe.It addition, some drawers in output/sort module 214 can be designated as input, And some are as output.In classification mode, the unit with individual machine people's fixture selects pipe from input drawer, reads Bar code, measures the height of sample constituent, and the photo of shooting pipe and analytical data are to record its manufacturer, diameter, height Degree and lid color.Based on the information received from laboratory information system (LIS), pipe is deposited on correct shelf by fixture Take the circumstances into consideration alignment bar shape code simultaneously.If error condition is identified, pipe is placed on the shelf of mistake.
3, the analysis phase
Referring again to Fig. 1 and Fig. 2, the analysis phase 106 includes carrying out processing sample and producing the actual measurement needed for result. This stage is typically mainly made up of more than one analyzer device or analyzer.Analyzer device or analyzer can be Any analyzer device known in the art or analyzer.Typically, analyzer can include for optionally entering specimen The mechanism of the analysis of the more than one type of row.The controller of analyzer and central controller communication, therefore central controller energy Enough instruction analysis device controllers are analyzed about which specimen performs.Analysis result can also be passed by the controller of each analyzer Deliver to the internal memory of central controller.
For have with analyze the last stage 104, the analysis phase 106 and analyze after-stage 108 be associated via delivery system The laboratory system of the parts that system 220 is joined together, sample can move through output/classifier modules 214 and move To analyzer.When carrier arrives the destination's analyzer for that specific sample, carrier completes main path of travel also Form the analyzer queue upstream to the accessing points of induction system 220.By adjusting while being still in distribution district 204 due to pipe The degree plan that completes of device and due to by distribution module 204 and the release of the controlled pipe of centrifuge module 206, so queue Length is minimum.
4, after-stage is analyzed
The terminal stage of laboratory treatment is to analyze after-stage 108.At this stage, sample is produced to store And stored.Once sample is complete required test and analysis, and sample is just capped and is placed in memorizer.Depend on In sample and laboratory treatment, this can be room temperature or refrigerating storage.Additionally, utilize there is connected analyzer be The user of system is not it can be desirable to for the connected refrigerating storage of some samples and connected for other samples Room temperature memorizer.But, utilize the user of not connected analyzer to be deposited the most off-line by their all of sample Storage.
II. for the halver module of various sample transport systems
As discussed above, in laboratory automation system, sub-module is waited to be used for from primary tube to secondary pipes In the preparation of sample decile.During the decile of the preparation for sample decile processes, comprise the primary sample of fluid sample Pipe is arranged on sucking-off position.Empty subsample pipe is arranged at dispensing position.Moveable machine can be attached to The pipettor of mechanical arm is used for the fluid sample of sucking-off aliquot volume.The volume being sucked out then is transferred by utilizing mechanical arm To dispensing position, and the volume being sucked out is allocated in empty secondary pipes.If needing more multisample decile, this processes Other empty secondary pipes can be recycled and reused for.
Relative to the moving direction of laboratory automation system sample container actuation unit, the halver module of prior art Allow the queuing of the secondary pipes being localized before primary tube.That is, once fluid sample is allocated in secondary pipes, secondary Pipe just may exit off halver module, and need not have to wait for completing the decile of that sample for other secondary pipes.
The structure of halver module is favourable because secondary pipes can moment after the allocation step from dispensing position It is released, and the target location specified to laboratory automation system can be transferred directly, the most further decile energy Enough it is generated.It addition, any number of subsample pipe can be generated from the primary tube provided continuously.Which reduce sample This turnaround time in laboratory automation system and create transportation system and process step subsequently homogeneity and The loading optimized.
Some specific embodiments disclosed below relate to " disk " of the example as carrier.It is appreciated that this Bright embodiment is not limited to disk, and carrier can be to be any suitable form according to an embodiment of the invention.
Fig. 4 shows the flow chart of the method that can illustrate the sub-modules such as operation according to an embodiment of the invention.Certainly Embodiments of the invention are not limited to the specific step shown in Fig. 4 or are confined to any specific sequence of steps.More Further, the computer-readable medium in computer can comprise the code that can be performed by the processor in computer, in order to Perform in Fig. 4 or arbitrary steps described herein.
In step 4470, primary tube is transported to the sucking-off position in halver module.In certain embodiments, primary Pipe is transported to the sucking-off position in the first disk.Primary tube can use any suitable transportation system to be transported to sucking-off position Putting, any suitable transportation system includes the disk on track, magnetic disk, fixture unit etc..
In step 4472, before or after primary tube is transported to sucking-off position, subsample pipe is loaded onto In second disk.There is the dispensing position (step 4474) that the disk of subsample pipe is then transported to halver module.
In step 4476, the aliquot volume of the sample being positioned in the primary tube in sucking-off position is inhaled by pipettor Go out.Allocated (step in subsample pipe in the aliquot volume of sample dispensing position in being positioned at halver module 4478)ã
In step 4480, the subsample pipe in the second disk is then before primary sample tube leaves halver module Or leave halver module (step 4484) afterwards.
Other sample decile can be obtained from primary tube and by with step 4472 to 4484 in similar in the way of quilt It is assigned in other secondary pipes.
One embodiment of the present of invention is for comprising the halver module of track and pipettor, and this track comprises multiple times Road, the plurality of loop comprises the first loop being configured to transport subsample container and is configured to transport primary sample container Second servo loop, this pipettor is configured to sucking-off the first aliquot volume in the primary sample container in being positioned at sucking-off position Sample the subsample container in being positioned at dispensing position distribute the sample of the first aliquot volume.It is configured to Deng sub-module Subsample container is made to leave halver module before primary sample container.
In one embodiment, halver module can utilize magnetic transportation system.Fig. 5 (a) depicts for using magnetic The example of the workflow of the halver module of property transportation system.
Halver module shown on Fig. 5 (a) comprises track 4516, track 4516 include the first loop 4516 (a), second Loop 4516 (b) and the total rail portion being included in the first and second loops 4516 (a), 4516 (b) two loops 4516(c).Rail system can comprise magnetics synergistic with the magnetics in multiple disks.Disk can be with Speed in the range of many 2 metre per second (m/s)s moves, this than standard carrier faster.This track is in trade name MagnemotionTMUnder be commercially available.
Fig. 5 (a) shows the multiple disks in halver module.They include the disk 4502 of sky, have primary tube The disk of 4504 and there is the disk of secondary pipes 4506.There is the secondary filled with the suitable decile of the sample from primary tube The disk of pipe 4508 is also shown.As it can be seen, various disks can be advanced also clockwise around loop 4516 (a), 4516 (b) And can go out from halver module via linear track 4511.In other embodiments, disk can be in the counterclockwise direction Mobile.
In the exemplary method of the sub-modules such as operation, primary tube 4504 is passing through system on the main orbit of decile It is identified and is directed to next-door neighbour's second servo loop 4516 (b) of halver, is adjacent at the merging of loop 4516 (a), 4516 (b) Sucking-off point (A).The halver that empty disk 4502 is sent to be close to loop 4516 (a) by the system after primary tube is used for The gatehead of secondary pipes (B).Secondary pipes is used for tagged at the gatehead of secondary pipes (B) at halver and is loaded onto sky In disk 4506, and it is directed to distributing point (C).Sample is then sucked out from primary tube 4504 at (A) place and next-door neighbour first Point (C) place in loop 4516 (a) is assigned in the secondary pipes in disk 4506.At point (A) and the barcode reader at (C) place (not shown) verifies correct relatedness by the bar code read in sample tube at point (A) and (C) place.When secondary pipes completes Time 4508, it by enter linear track 4511 and be released to its next destination and next secondary pipes move to point Join point (C).
If empty disk is transferred to halver module by system further, then can sequentially for any number of separately Outer secondary pipes completes to process.When a upper secondary pipes is done, a upper secondary pipes and two pipes of primary tube are according to scheduling Device is all released into their next destination, and secondary pipes and the primary tube trailed are individually displaced to distributing point (C) With sucking-off point (A).Then, it is possible to the secondary pipes trailed and primary tube are completed to process.
Loopback path structure has multiple advantage.They include disk can continuously and efficiently be fed to halver mould Sucking-off point in block and distributing point such that it is able to cause processing faster.
An alternative embodiment of the invention is for comprising the system of halver module, and this halver module comprises the first rail Road, the second track, conveying track, next-door neighbour's conveying track and the first track or the rotatable gateway device of the second track, with And pipettor, this pipettor is configured to sucking-off in the primary sample container in the sucking-off position being located close to the first track The sample of one aliquot volume the subsample container in the dispensing position being located close to the second track distribute the first decile The sample of volume.
In another embodiment, as described above, halver module is utilized by carrier transportation system.Fig. 5 B () depicts the example of the workflow waiting sub-module for using carrier transportation system.Halver module comprises can Transport has the disk of primary tube 4522 and contains the carrier 4588 of the disk with the secondary pipes that sample etc. divides 4528.System System can also comprise passage or have the carrier of empty disk 4524.
Multiple circuit orbits may reside in halver module.This track could be included for transport and has primary sample First circuit orbit 4525 of this pipe, and for transporting the disk 4524 of sky, there is the disk of the secondary pipes 4526 of sky and contain There is the second circuit orbit 4527 of the disk of the secondary pipes of sample etc. point 4528.Although in Fig. 5 (b), track 4525 He 4527 is circular, but the track with any other structure can be used.In some cases, track is at The form of Infinite Cyclic (such as, circular, oval etc.).
In the region of the first circuit orbit 4525, barcode reader 4523 can be there is, in order to be adjacent to track Sucking-off point (A) place of 4525 reads the bar code in sample tube.Disk manipulator 4584 can also be there is at sucking-off point A, with Just the disk movement at sucking-off point (A) place is controlled.
In the region of the second circuit orbit 4527, Article 1 code reader 4568 and disk manipulator can be there is 4566, in order to read the bar code on secondary pipes at gatehead (B) (the being adjacent to track 4527) place of secondary pipes.Equally, In the region of two circuit orbits 4527, Article 2 code reader 4529 and the second disk manipulator 4574 may reside in neighbouring Distributing point (C) place in track 4527.Disk manipulator 4523,4566,4574 be at allow disk stop and through with Just the sample tube in disk can be operated (such as, sucking-off or distribution, or read the bar code in sample tube) The form having corner structure of pivot.
Various tracks shown in Fig. 5 (b) can utilize and be included in trade name FlexLinkTMThe lower carrier sold Any suitable transportation technology of system.Conveyor system is based on providing the tight of straight line, level and vertical service ability Close chimeric, many elastoplast chain carrier.
First rotatable gateway device 4530 can be adjacent to linear track 4588 and the first circuit orbit 4525.First Rotatable gateway device 4530 can have the most meniscate shape, and therefore its concave surface 4530 (a) can receive disk Circular edge.First rotatable gateway device 4530 can receive from the disk of linear track 4588 and can it be drawn It is directed at the first circuit orbit 4525.First rotatable gateway device 4530 can also receive from the first circuit orbit 4525 Disk also can direct it to linear track 4588.Second rotatable gateway device 4532 can also have concave surface 4532 A () also can operate in a similar fashion, it is allowed to disk is switched to linear track 4588 from the second circuit orbit 4527, or On the contrary.
The most rotatable gateway device has multiple advantage.For example, compared with fixture For compare, rotatable gateway device is more uncomplicated and occupies less space.Further, the most half moon-shaped revolve The gateway device turned can be fabricated collaboratively with disk, and therefore they are transported to another track at them from a track When temporarily and securely with disk engage.
In operation, primary tube 4522 is being identified on the main orbit 4558 of decile by system and is being directed to decile Sucking-off point (A) of device, sucking-off point (A) can be close to the first circuit orbit 4525.First rotatable gateway device 4530 is permissible Reception has the disk of primary tube 4522, rotates and direct it to the first circuit orbit 4525.Empty disk 4524 is at the beginning of having The disk of level pipe passes behind system and is sent to the gatehead for secondary pipes (B) of halver along main orbit 4588, loads Point (B) can be close to the second circuit orbit 4527.For any primary tube, it is possible to send the disk of an unbounded quantity of sky.Secondary pipes In the gatehead for secondary pipes (B) place of halver is tagged and is loaded onto the disk 4526 of sky, and it is directed to tight The distributing point (C) of adjacent second circuit orbit 4527.Sample is sucked out from primary tube at point (A) place and allocated from point (C) In secondary pipes.Barcode reader 4523,4529 at point (A) and (C) place verifies correct relatedness.When sample is to secondary When decile in pipe is done 4528, it is released into its next destination and next secondary pipes moves to distributing point (C).Second rotatable gateway device 4532 can receive from the second circuit orbit 4527 containing having sample decile The disk of the secondary pipes of 4528, and can be by its conversion to linear track 4558, through this, it such as leaves at the subdivision.
If empty disk is transferred to halver module by system further, then can sequentially for any number of separately Outer secondary pipes completes to process.When a upper secondary pipes is done, a upper secondary pipes and primary tube two pipe are all released It is respectively moved to distributing point (C) and sucking-off point (A) to their next destination and the secondary pipes trailed and primary tube.Connect And can complete to process for the secondary pipes trailed and primary tube.
Fig. 5 (c) shows an alternative embodiment of the invention.Halver module in Fig. 5 (c) comprises linear transport channel 4582.In the embodiment as shown in Fig. 5 (c), system comprises the first and second circuit orbits 4572,4575.
Multiple primary sample container in disk 4570 can be on the first circuit orbit 4572, and at disk 4576 In multiple subsample containers can be on the second circuit orbit 4575.Disk can move in the clockwise direction around track Dynamic.
The the first rotatable gateway device 4580 being in cross bar form is adjacent to the first circuit orbit 4572, and can be online Property transport channel 4582 and the first circuit orbit 4572 between guide disk.First rotatable gateway device 4580 can include Primary importance 4580 (a), the second position 4580 (b) and the 3rd position 4580 (c).First and the 3rd position 4580 (a), 4580 C () can be commutation position.In order to disk 4570 is moved to linear transport channel 4582, disk from the first circuit orbit 4572 4570 are kept simultaneously rotatable gateway device 4580 by disk manipulator (not shown) is moved to its primary importance In 4580 (a).By being commutated via rotatable gateway device 4580 in its primary importance 4580 (a), disk 4570 It is released from disk manipulator and passes through the first circuit orbit 4572 and be moved into linear transport channel 4582.In order to by disk 4570 are transferred to the first circuit orbit 4572 from linear transport channel 4582, and rotatable gateway device 4580 arrives at disk 4570 Its 3rd position 4580 (c) it is moved into before reaching at commutation position.Once disk 4570 arrives commutation position, disk 4570 Just by rotatable gateway device 4580 in its 3rd position 4580 (c) from linear transport channel 4582 by commutation to the One circuit orbit 4572.Second rotatable gateway device 4585 is positioned adjacent to the second circuit orbit 4575, and can Operate in the way of similar with the first rotatable gateway device 4580.
In the example as shown in Fig. 5 (b), the system in Fig. 5 (c) includes point (A), point (B) and point (C), at point (A) There is sucking-off in place, the loading in point (B) middle generation subsample container to disk, occurs sample decile from just at point (C) place Level sample container is to the distribution of subsample container.Fig. 5 (c) also show and can move between sucking-off point (A) and distributing point (C) Dynamic pipettor 4567.
An alternative embodiment of the invention is for comprising the system of halver module, and this halver module comprises pipettor, This pipettor is configured to can sucking-off in the primary sample container in movable independently disk be positioned at sucking-off position first The sample of one aliquot volume, and can the subsample container in movable independently disk distribute be positioned at dispensing position second The sample of the first aliquot volume.Halver module is configured so that subsample container left before primary sample container Divide device module.
Fig. 5 (d) shows another sub-module such as grade according to an embodiment of the invention.There are three formed by two parallel walls Individual linear and parallel passage 4592,4594,4596, they are the parts waiting substation.Main transport channel 4590 is perpendicular to three Individual passage 4592,4594,4596.Allow in the open area 4598 of the end of three passages disk three passages 4592, 4594, process between 4596, and finally go out from halver module.
In operation, primary tube 4542 is being identified on the main orbit of decile by system, and is directed to halver Next-door neighbour track 4594 sucking-off point (A).Empty disk 4544 primary tube pass behind system be sent to halver for The gatehead of next-door neighbour's track 4592 of secondary pipes (B).For primary tube, it is possible to endless sent.Secondary pipes is at halver It is tagged and is loaded onto for gatehead (B) place of secondary pipes in the disk 4546 of sky, and entering in open area 4598 It is directed to be close to the distributing point (C) of track 4592 at Kou.Sample (A) place from primary tube be sucked out and at point (C) from allocated In secondary pipes.Barcode reader verifies correct relatedness at point (A) and (C) place.When secondary pipes is done 4548, it The next destination and the next secondary pipes that are released into it move to distributing point (C).
If empty disk is transferred to halver module by system further, then can sequentially for any number of separately Outer secondary pipes completes to process.When a upper secondary pipes is done, a upper secondary pipes and primary tube two pipe are all released It is respectively moved to distributing point (C) and sucking-off point (A) to their next destination and the secondary pipes trailed and primary tube.Connect And can complete to process for the secondary pipes trailed and primary tube.
The disk used in embodiment in Fig. 5 (d) can move independently of one another, and each can comprise it The processor of oneself, internal memory and communication interface.In certain embodiments, disk can use wireless communication mechanisms to control with central authorities System communicates.More details about this kind of transportation system He other suitable transportation systems can be the 61/556,667th, 61/ 616,994,61/486, found in No. 126 U.S. Provisional Patent Application and PCT/US2012/037585 PCT application, It is incorporated in this by quoting its entirety for all purposes.More details about suitable disk transportation system are also carried For as follows.In some cases, disk can be commonly referred to as " Lab Products transport element ".
Disk transportation system is the autonomous guiding vehicle for transporting single sample tube.Current chain or belt drives Transportation system be merely able to control the speed of whole orbital segment.Even if chain can be made to have different speed or the most adjustable Whole speed, it is likely to be difficult to move each single track by the speed of its own.In other words, there is minimum speed limit Or the disk transportation system of minimum acceleration/deceleration can arrange whole section.
The disk transportation system of prior art provides the transportation system of the sample transport unit promoted as oneself.Disk Transportation system can use the kinematic parameter of necessity to move sample can do so independently of one another.Disk transportation system leads to Cross maximization volume of production to improve efficiency, even if different sample tube (such as, normal contrast is urgent) is had change Situation, it is not necessary to sacrifice or the sample quality of sensitive sample of taking a risk, because each sample can be transported with maximum speed Defeated.It addition, disk transportation system can be managed by central controller or local Switch Controller.
Fig. 6 shows the solid of the variation of the transfer path layout of the laboratory transportation system utilizing disk transportation system Partial view.Particularly, the transfer path 2710 with side restriction 2712 and flat horizontal net 2713 is visible.At this In example, side limits 2712 forms promoting wall being at least partially limiting transfer path 2710.At this In embodiment, the relative side of flat horizontal net 2713 has two lifting walls, and wall and net 2713 can limit Transfer path 2710.This wall can have according to the height of Lab Products transport element and the sample being wherein carried appoints Meaning suitably height, the height of typically not more than about 20mm.Net 2713 can have the lateral dimension of any appropriate.
The transfer path of the embodiment according to this technology also is able to have the more than one branch road that can lead to other districts. Such as, the transfer path 2710 in Fig. 6 can have the transverse legs leading to separating treatment station, buffered station or some other stations 2760ã
Laboratory transportation system can use the device of any suitable number or type, and it can help to guide or move Dynamic Lab Products transport element.As shown in Figure 6, sensor conductor 2714 can be disposed in below transfer path 2710.Sensing Conductor 2714 can be electrically coupled on high frequency voltage source (not shown), therefore can supply high frequency to them, in order to produce High-frequency electromagnetic alternating field.
The Lab Products transport element 2730 of transport sample container 2750 (such as, sample tube) can move to shift road On footpath 2710.But, in order to realize the optics investigation of the sample material being such as contained in sample container 2750, laboratory Product transport element 2730 can be transferred in limited mode process track 2718 continuously.
Electric conductor 2714 can be set along the most possible path of Lab Products transport element 2730.But, Because Lab Products transport element 2730 can independently move, so they are not necessarily the geometric form of conductor 2714 defined Shape.Their movement is not dependent on conductor 2714, as long as utilizing conductor 2714 in the position of Lab Products transport element 2730 Produced electromagnetic high-frequency field, place is enough for the transmission of corresponding energy or Lab Products transport element 2730 has Accumulator 2744 for bridge joint.
Sample container 2750 can have shape or the structure of any appropriate.In certain embodiments, sample container 2750 can be as tubes.In some cases, capping 2752 can be in sample container, and other sample container exist simultaneously Do not cover above them and transported by opening.
Fig. 6 shows the side axonometric chart of the Lab Products transport element 2730 of the embodiment according to this technology.Laboratory Product transport element 2730 comprises Lab Products transport element shell 2731, and it can have the top being formed on shell 2731 Cylindrical recess 2733 at portion, it can also be cylindrical.The sample container 2750 on it with capping 2752 can be Cylindrical recess 2733 is received.Gap 2732 can be formed in the side of shell 2731.Gap 2732 can allow for The optics investigation of the sample material being contained in sample container 2750, and can be co-extensive with recess 2733.In other embodiments In, gap 2732 need not co-extensive with recess 2733 and can not rely on recess 2733 and be formed.Additionally, implement at other In example, gap 2732 can be in the aperture of some other forms (such as, circular).
In this example, Lab Products transport element 2730 has round horizontal cross-section and has rubber strip 2734, This rubber strip 2734 plays relative to the restriction 2712 of transfer path 2710 or other Lab Products transport element 2730 The effect of impact protector.
Fig. 8 shows the side section of the Lab Products transport element 2730 on direction of observation III shown in the figure 7. Ref. No. 2736 represents the motor driving rubber wheel or rubber tyre to take turns 2738.Two relative wheels 2738 are set Putting, they are driven separately by a motor 2736.Wheel 2730 can be the example of mobile device.
Show shoulder 2735 in fig. 8, when sample container 2750 to be pulled upwardly out from recess 2733, this shoulder 2735 such as can deposit by the selectivity of restriction 2712 with transfer path 2710 in the transfer path passage more narrowly configured Lateral process cooperation, in order to make Lab Products transport element 2730 keep down.The use of the shoulder 2735 shown in Fig. 8 Can describe in further detail in part " be accurately positioned and unload ".In certain embodiments, Lab Products transport element (not shown) can have the element being similar to anchor.It is similar to the element of anchor entering treating stations when and transfer path Corresponding counterpart engagement, in order to fix during Lab Products transport element is positioned at treating stations this Lab Products fortune Defeated element.
Lab Products transport element 2730 can also comprise range sensor 2737.In fig. 8, range sensor 2737 Can include being disposed in four range sensors after rubber strip 2734 with angle relative to each other.One is preferable to carry out Example is to make all of sensor cover forwards and be in angular relationship between 10 ° and 30 ° each other, and more preferred embodiment is 20°ã
Fig. 9 shows the elevated bottom perspective view of the Lab Products transport element 2730 of the embodiment according to this technology.Sense Answering coil 2740 for receiving from the electromagnetic energy of radio-frequency field, radio-frequency field can quilt the electric conductor 2714 below transfer path Produce.
In certain embodiments, in addition to powered rubber wheel 2738, more than one support can be set and take turns, in order to Lab Products transport element 2730 rolls on multiple wheels.But, in other embodiments, it is not provided with other wheel Son, is on side towing in therefore Lab Products transport element is during movement.This can promote around it certainly The traveling of oneself bending shaft or rotation.
(not shown) in another embodiment of this technology, Lab Products transport element 2730 is supported on can be in institute On the ball that the side of having rotates up, it is arranged to make up two powered wheels 2738, to avoid dragging on transfer path Drag.This ball could be used for position detection, in computer mouse.
In embodiment shown in fig .9, Ref. No. 2742 represents the shifting determining Lab Products transport element 2730 Dynamic position detector, as in the computer mouse using laser.The surface advanced then passes through combined light source and adopts It is illuminated with the reflection of optical pickocff, in order to Lab Products is transported to utilize corresponding image processing algorithm to determine from them The movement of defeated element 2730.Position detector 2742 can include CCD camera and corresponding software, as in laser mouse Laser or such as the ball in ball-type mouse and sensor.
Figure 10 shows the Lab Products transport element 2730 not having outside protection.It is to say, shell can be moved Remove, in order to the inner member of display Lab Products transport element 2730.As shown in Figure 10, Lab Products transport element is permissible Including accumulator 2744.When that produced by the radio-frequency field of the electric conductor 2714 shown in Figure 10 and can in being transferred to such as Fig. 9 The energy of the induction coil 2740 seen may be the most limited or when can not drive Lab Products transport element 2730, accumulator 2744 can be used for storing energy, in order to drive Lab Products transport element 2730.This can be in curve or relay Situation in district.
Lab Products transport element 2730 also comprises control unit (not shown), such as, (does not also show from signal receiver Go out) receive signal corresponding microprocessor.Signal receiver can include the infrared light cooperated with outside infrared light transmitter Receptor, in order to receive control signal.Other examples that signal receives can include radio sensor.
But, when corresponding signal is supplied to electric conductor 2714 as shown in Figure 6, control signal be likely to via Induction coil 2740 is received as shown in Figure 9.This control signal can by corresponding frequency or Modulation and Amplitude Modulation from The radio-frequency field of supplying energy is distinguished out.
Lab Products transport element 2730 can also optionally have unshowned signal projector, in order to produces letter Breath and signal.This allows, such as, and being accurately positioned of single selected Lab Products transport element 2730.Signal sends Device can use the frequency of any appropriate and the communication protocol of any appropriate to send signal.
Lab Products transport element 2730 can also have multiple sensor, utilizes the plurality of sensor, can carry out Position resolution at treating stations and be accurately positioned, travel path limit or the resolution of other Lab Products transport element, Or information exchanges.Such as, clearly recognizable bar code can be arranged on the transfer path 2710 shown in Fig. 6, or Person limits on 2712 or flat horizontal net 2713 in side.Bar code can be by being configured to more than one of scanner Sensor, be scanned by Lab Products transport element 2730, in order to differentiate the exact position of branch road or treating stations Exact position.Otch by means of transfer path 2710 shows example in fig. 11.Bar code 2760 is positioned at branch road 2760, It can be resolved by the corresponding scanner of Lab Products transport element and be identified.In this way, laboratory produces Product transport element obtains the information of the position about it.Multiple this codes are arranged on transfer path 2710, and it is clearly Identify branch road, process track, treating stations etc..
This other probabilities towards feature include 2 dimension codes, color mark, reflectance coating, responder system or red Outer optical transmitting set.This suitable sensor towards feature can be sensed and can be incorporated into Lab Products transport element In.
Lab Products transport element 2730 can have display unit.It can show information, and this information is about experiment Room Product transport element to be brought into which paths, which Lab Products are transported or whether shortcoming exists.More enter One step ground, has signal projector and receptor or has the Lab Products transport element 2730 of display and record unit also Directly via intercommunication emitter or information can be exchanged with each other via central processing unit.
In the inside of Lab Products transport element 2730, protected in order to avoid suffering the permanent data internal memory of the evil of power-off Can be set, the data about transported Lab Products or the data about the path advanced can be defeated Enter to this permanent data internal memory.
A diameter of about 6cm of the Lab Products transport element 2730 described in figure, height is about 5.5cm.Wheel Son 2738 is downwardly projected about 1mm from Lab Products transport element 2730.Lab Products transport element and its feature exist Other embodiments of this technology can have other suitably sized.
The Lab Products transport element 2730 of the embodiment according to this technology also is able to have heater (not shown). Sample during transportation interior can be maintained at a temperature of restriction or during transportation interior can perform quilt by this heater The Temperature Treatment of the restriction of the sample of transport.This heater can include, such as, and the resistance being set with suitable layout Silk.
Such as, can be made as follows according to the laboratory transportation system of the embodiment of this technology of the variation described With:
Chucking appliance system or other container transportation system that sample container 2750 is fixed by use at loading depot are inserted Enter in Lab Products transport element 2730.Via the signal receiver of Lab Products transport element, Lab Products is transported Defeated element regulation target.The geometry of actual transfer path 2710 can be encoded and be imported into Lab Products transport In the internal memory of element 2730.The control unit of Lab Products transport element 2730 can be by using about being imported into internal memory In the data of transfer path geometry identify the object being prescribed, and can independently set up the preferable of this object Path.Towards the position of feature, such as, bar code 2760, it is also input in internal memory, in order to Lab Products transport element 2730 can at it along inner position its own during the traveling in path, and if it is necessary to check it current location or Person corrects it.
After starting signal and being introduced in Lab Products transport element 2730, Lab Products transport element 2730 exists Moved on the predefined paths set up in its internal memory.If it is through bar code 2760, Orientation differences at bar code 2760 It is made, is used as signal by bar code 2760 controlled unit of scanner record, in order to the side of carrying out in a desired direction Position change.
If Lab Products transport element 2730 such as arrives the position of indicating position change, then drive motor 2736 One of be stopped or be decelerated, therefore corresponding wheel 2738 stops or more slowly rotating.In this way, laboratory produces Product transport element 2730 is advanced along curve.
If Lab Products transport element arrives its destination (such as, discharge point), it is located in this purpose, it is assumed that quilt The laboratory machine people correspondingly programmed to remove transported sample container 2750 from Lab Products transport element 2730, So motor 2736 is stopped.In order to prevent Lab Products transport element 2730 in sample container from laboratory transport element Recess 33 unloaded from transfer path when be removed, the side of transfer path 2710 limit 2712 can have towards The interior projection cooperated with the shoulder 2735 in Lab Products transport element 2730.If sample container and Lab Products fortune Friction is had, then side is prevented from Lab Products transport element towards interior projection between the recess 2733 of defeated element 2730 2730 are lifted up.
In certain embodiments, sample container 2750 is taken to process or investigation by Lab Products transport element 2730 Stand, in order to sample is performed physics, chemistry or the investigation of biology.In the case of optics is investigated, Lab Products is transported Defeated element 2730 arrives light source together with sample container 2750.Light source can illuminate sample container 2750 times via gap 2732 Region, portion and the transmitting light from sample can be arranged on the detector on its opposite and detect.Detector or and detector The electronic equipment being associated can determine absorption or the fluorescent characteristic of sample.In order to make gap 2732 be exactly in by accordingly The light source opposite that ground is arranged, Lab Products transport element can be correspondingly directed at.This can be by driving rubber wheel 2738 Rotate in the opposite direction and realize.Therefore, Lab Products transport element 2730 rotates around the axle of its own, until gap It is arranged to relative with the corresponding light source for investigation.Gap could be used for setting up in sample container 2750 filling height Spending or be used for the bar code reading in the lower area being selectively disposed in sample tube, this bar code comprises about quilt The information of the product of transport.
Lab Products transport element 2730 also is able to take sample container to more than one treating stations.Suitably process Station includes standing as above, such as waits substation, for closing or open the station of sample container, for performing optics investigation Stand etc..It should be noted that laboratory transportation system can comprise Active transport system, this Active transport system is such as by using Sample container is moved to Active transport system (such as, conveyer belt) from laboratory transport element 2730 by unshowned grip device Come up and laboratory transport element 2730 interacts.
Alternatively or additionally, it is also possible to configuration Lab Products transport element, in order to they can be by outside Control to be controlled.For this purpose, control unit can be used and be configured to control signal to be converted in real time electricity The driving signal that motivation 2736 is used.In this way, automation experiment chamber system can be intervened from the external world, it is possible to make reality Test room Product transport element commutation or pick out Lab Products transport element.
For example, it is also possible to come the road of regulation Lab Products transport element 2730 fully by wireless program interface Footpath.Corresponding program can be imported in the datarams of Lab Products transport element 2730.Routine data can include About assume Lab Products transport element use be arranged in the restriction 2712 of transfer path 2710 where towards spy Levy (such as, bar code 2760) and change the information in its direction.In this way, Lab Products transport element 2730 is whole Path is established and is programmed in Lab Products transport element 2730 together with corresponding sample container 2750.
If Lab Products transport element 2730 is defective or becomes to operate, then it can be by making User is removed from transfer path 2710 and can optionally be replaced by new Lab Products transport element 2730.As Really this occurs, the interruption to system is the shortest and localization.Further, even if can not intervene, system It is not blocked.Other Lab Products transport element 2730 can be moved around inoperable Lab Products transport element Dynamic.Other Lab Products transport element can be by from the corresponding control signal of central processing unit or via individually The programming of Lab Products transport element 2730 be prompted, in order to communicate with other this elements 2730.Such as, laboratory produces Product transport element can have corresponding sensor, and this corresponding sensor can detect defective or fixing laboratory The existence of Product transport element 2730 is also moved around it via the programming of internal control processor.
When they are on transportation route, single Lab Products transport element 2730 also is able to via optical signal launch Device and receptor communicate with one another.Can directly there is and need not the laboratory via being centrally located and transport in this communication The communication place of system is performed.In this way, the Lab Products transport element with especially sensitive sample can It has priority to notify other Lab Products transport element.
Energy needed for mobile laboratory's Product transport element 2730 can obtain from electromagnetic field via induction coil 2740, It is generated by being applied in the high frequency voltage of electric conductor 2714.Lab Products transport element 2730 need not accurately with With electric conductor 2714.In order to drive motor 2736, interact the persistent period having only to that there is abundance, so as to from Electromagnetic field obtains sufficient energy, and this driving motor 2736 drives wheel 2738.When this can not time, Lab Products transport unit Part 2730 can have accumulator 2744, this accumulator 2744 in this position of transfer path 2710 to drive motor 2736 Power supply, wherein the electromagnetic field of electric conductor 2714 is insufficient.On the other hand, Lab Products transport element 2730 energy wherein Enough on the linearity region that electric conductor 2714 moves, the excess energy from electromagnetic field can be utilized, in order to accumulator 2744 chargings.
Other embodiments of this technology can have light-sensitive element at the bottom of Lab Products transport element 2730.Light The light belt that quick element can be disposed on transfer path illuminates.Light-sensitive element can be used offer electrical drive power.
Lab Products transport element 2730 can also obtain their driving force completely from accumulator 2744.Accumulator 2744 can be electrically charged at corresponding charging station, and corresponding charging station can be at treating stations.
VII. computer configuation
More than one computer equipment can be operated, in order to promote herein with reference to the various participants described by accompanying drawing and element Enter function as described herein.Any element in above-mentioned, including any server, processor or data base, can make With any suitable number of subsystem, in order to promote function as described herein, such as, such as real for operation and/or control Test the functional unit of room automated system, transportation system, scheduler, central controller, local controller etc. and the merit of module Energy.
The example of this subsystem or parts is shown in fig. 12.Subsystem shown in Figure 12 is via system bus 4445 are connected to each other.(or other comprise computer-readable matchmaker for such as printer 4444, keyboard 4448, fixed disk 4449 The internal memory of body), be coupled to the watch-dog 4446 of display adapter 4442 and other add-on subsystem is shown.It is couple to Ancillary equipment on I/O controller 4441 (it can be processor or other suitable controllers) and input and output (I/O) Device can be connected to computer system by any number of instrument well known in the prior art, well known in the prior art All serial port 4484 in this way of instrument.Such as, serial port 4484 or external interface 4481 can be used and set by computer For being connected to the wide area network of such as the Internet, mouse input device or scanning device.It is connected with each other permission via system bus Central processing unit 4443 and each subsystem communication and control from Installed System Memory 4442 or the instruction of fixed disk 4449 Execution, and the exchange of the information between subsystem.Installed System Memory 4442 and/or fixed disk 4449 can be embodied as meter Calculation machine computer-readable recording medium.
The embodiment of this technology is not limited to above-described embodiment.Provide below in terms of described above some Detail.The detail of specific aspect can be the most combined, and without departing from the reality of this technology Execute the spirit and scope of example.
It should be appreciated that as described above this technology can by modular or integrated in the way of, use (quilt It is stored in tangible physical medium) computer software, it is carried out controlling the form of logic.Additionally, prior art is permissible With the form of any image procossing and/or it is performed with the combination of any image procossing.Based on disclosure provided here and religion Lead, those of ordinary skill in the art will recognize that and understand the combination using hardware and hardware and software to implement its of this technology His mode and/or method.
Any software component described in this application or function can be implemented as using any suitable meter The software code that the processor to be passed through of calculation machine language is performed, any suitable computer language is all the most such as to be used such as Traditional or Java, C++ or Perl of Object-oriented technology.Software code can be stored as being situated between at computer-readable A series of instructions in matter or order, all random access memorys in this way of computer-readable medium (RAM), read only memory (ROM), the magnetic medium of such as hard disk drive or floppy disk or the optical medium of such as CD-ROM.Any this calculating Machine computer-readable recording medium may be present within single calculating equipment or in single calculating equipment, and can exist in system or In different calculating equipment on different calculating equipment in person's network or in system or network.
Foregoing description is illustrative and not restrictive.When those skilled in the art are checking the disclosure Time, many changes of this technology will be apparent from.Therefore, the scope of this technology not should refer to foregoing description and is determined, but Should refer to claim undetermined and their four corner or equivalent scope is determined.
In the case of without departing from the scope of this technology, the more than one feature from any embodiment can be with any The more than one feature of other embodiments combines.
The narration of " one (a) ", " one (an) " or " described (the) " is intended to indicate that " more than one ", unless in contrast Ground is specifically noted.
All of patent, patent application, announcement and the description above are complete by quoting them at this for all purposes Portion is combined.It it is not considered as prior art.
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